CN107552668A - A kind of double servo synchronization feeding mechanical hands of suspension type - Google Patents

A kind of double servo synchronization feeding mechanical hands of suspension type Download PDF

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Publication number
CN107552668A
CN107552668A CN201710985442.XA CN201710985442A CN107552668A CN 107552668 A CN107552668 A CN 107552668A CN 201710985442 A CN201710985442 A CN 201710985442A CN 107552668 A CN107552668 A CN 107552668A
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CN
China
Prior art keywords
feed
feed spool
feeding
folding
gear
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Pending
Application number
CN201710985442.XA
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Chinese (zh)
Inventor
李炯宏
陈嘉豪
李智敏
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GUANGDONG HONGXING MACHINERY CO Ltd
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GUANGDONG HONGXING MACHINERY CO Ltd
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Application filed by GUANGDONG HONGXING MACHINERY CO Ltd filed Critical GUANGDONG HONGXING MACHINERY CO Ltd
Priority to CN201710985442.XA priority Critical patent/CN107552668A/en
Publication of CN107552668A publication Critical patent/CN107552668A/en
Pending legal-status Critical Current

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Abstract

A kind of double servo synchronization feeding mechanical hands of suspension type, including workbench, lowering or hoisting gear, closing device, twin shaft feed device, material folding component and electric control system on forcing press;Lowering or hoisting gear includes left and right elevator crib and hangs and fastened on the table respectively, and servomotor is connected with right cabinet by power transmission shaft on left cabinet, realizes the right and left synchronization lifting;Closing device includes servomotor, by steering gear and power transmission shaft, rotates the two positive and negative tooth ball screws in left and right, realizes twin shaft feed spool synchronous on-off;Twin shaft feed device includes servomotor, feed spool fulcrum bearing, feed spool, servomotor connection reductor is separately mounted in feed spool fulcrum bearing, connection timing belt drags two feed spools and moved left and right, and workpiece is sent to subsequent processing from a upper process by material folding component, the manipulator controls lifting, folding and double servo synchronization feedings simultaneously by electric control system, and be connected with the control system of forcing press and realize automatic press, it is practical.

Description

A kind of double servo synchronization feeding mechanical hands of suspension type
Technical field
The invention belongs to forcing press punching press automatic feeding technology, the double servo synchronization feeders of specifically a kind of suspension type Tool hand.
Background technology
Punching press is most widely used in metal forming, can be punched out using different moulds, bending, stretching, blanking, into The process of type etc., most workpiece, which will pass through multiple stamping procedures, to be completed.All it is at present to use more in multiple operation punching press Forcing press and multiple operations composition, each operation is completed with human hand blowing, feeding.Therefore employment is more, low production efficiency, easily The industrial accident of hand is flushed to, it is very dangerous.Existing loading and unloading manipulator is mostly joint or swing arm feeding, is only suitable for list Secondary punching press, low production efficiency, it is necessary to further improve.
The content of the invention
The purpose of the present invention aims to provide a kind of simple and reasonable, excellent performance, easy to operate, volume is few, automation Continuous punching, production efficiency height, the double servo synchronization feeding mechanical hands of suspension type safe and reliable and that unit multiple spot punching press can be realized, To overcome weak point of the prior art.
By a kind of double servo synchronization feeding mechanical hands of suspension type of this purpose design, including workbench, liter on forcing press Falling unit, closing device, twin shaft feed device, material folding component and electric control system, it is characterised in that:Lowering or hoisting gear at least wraps Two elevator cribs are included, two elevator cribs hang and are fastened on the left and right sides of workbench respectively;Divide on two elevator cribs Left and right lift platform is not provided with, and closing device is provided with two and is separately mounted on the lift platform of left and right, and comprises at least The connecting plate of the right and left;Formula is arranged on the connecting plate of the right and left before and after twin shaft feed device is provided with two and difference.
The lowering or hoisting gear includes left and right elevator crib, and lift servo motor, lift servo motor are provided with left cabinet Connection has planetary reducer, and planetary reducer is connected with power transmission shaft and by being driven the right cabinet of axis connection by shaft joint;It is described Both ends of the drive shaft synchronizing wheel is housed, be respectively arranged with gear shaft in the elevator crib of left and right, it is synchronous that synchronizing wheel passes through first respectively Band and the gear shaft drive connection in the elevator crib of left and right;There are pinion rack, and rack and lifting platform on described gear shaft Frame is connected, and line rail is respectively arranged with elevator crib, and left and right lift platform is arranged on elevator crib by line rail sliding block respectively Elevating movement is realized on line rail and by the driving of gear shaft and rack.
The closing device is arranged on the lift platform of left and right, and is set including folding servomotor, folding servomotor On left lift platform and connection has left steering device, and the connection of left steering device has power transmission shaft and by power transmission shaft and right lifting platform The connection of right turn device, be also respectively provided with positive and negative tooth ball screw on the lift platform of left and right, left and right steering gear respectively with it is positive and negative Tooth ball screw connects, and has four nuts, two folding line slideways and positive and negative tooth ball wire on positive and negative tooth ball screw respectively Bar is installed in parallel on the lift platform of left and right, there is four sliding blocks on line slideway respectively, and left and right two is respectively provided with four sliding blocks The connecting plate on side and it is connected respectively with four nuts on positive and negative tooth ball screw, the connecting plate of the right and left rolls with positive and negative tooth Open and close movement is realized in the rotation of ballscrew.
The twin shaft feed device includes two feeding servomotors, two feed spools and two feed spool fulcrum bearings, Two feeding servomotors couple respectively planetary reducer, is separately mounted in two feed spool fulcrum bearings, and two planets subtract The second synchronous pulley is respectively provided with fast machine shaft end, feeding line slideway, two feed spools are separately installed with two feed spools Sliding block is separately installed with fulcrum bearing, two feed spools pass through feeding line slideway and the sliding block of two feed spool fulcrum bearings respectively Connection;Adjuster is also respectively provided with two feed spools, second timing belt one end is fixed on feed spool one end by adjuster On, the second timing belt bypasses installed in two idle pulleys and motor synchronous belt wheel sent in semiaxis fulcrum bearing and is fixed on feed spool On the other end;Two described feeding servomotor synchronous axial systems drag the second timing belt, and drive two feed spools or so same Step motion;Two described feed spool fulcrum bearings are attached separately on the connecting plate of closing device, and pass through lowering or hoisting gear and folding Device realizes lifting, folding and side-to-side movement.
The material folding component is provided with several and mutually corresponding is respectively fixedly disposed on two feed spools, wherein Spring support is additionally provided with the material folding component of one feed spool.
The electric control system includes servo-driver, PLC, man-computer interface;PLC is by man-computer interface respectively to lifting Device, closing device and twin shaft feed device are controlled, to realize that the lifting of two feed spools, folding and left and right are synchronously sent Material;And be connected with the control system on forcing press, to realize the automatic stamping operation of forcing press.
Improvement of the invention by said structure, lowering or hoisting gear comprise at least left and right elevator crib, left and right elevator crib point Do not hang and be fastened on the left and right sides of press bench, servomotor passes through power transmission shaft and right cabinet on left cabinet Connection, realizes the right and left synchronization lifting;Closing device comprises at least folding servomotor and by steering gear and power transmission shaft Coordinate, rotate the two positive and negative tooth ball screws in left and right, twin shaft feed spool synchronous on-off is realized by the transmission of connecting plate;Twin shaft is sent Expect that device comprises at least two feeding servomotors, two feed spool fulcrum bearings, two feed spools, two feeding servomotor connection Connect reductor to be separately mounted in two feed spool fulcrum bearings, and connect timing belt two feed spools of dragging and move left and right, and by Workpiece is sent to subsequent processing by the material folding component on two feed spools from a upper process, while the manipulator is by electrical control System controls lifting, folding and double servo synchronization feedings simultaneously, and is connected with the control system of forcing press and realizes automatic press, has Effect ground improves operating efficiency, while without manual operation, not only improves security and effectively save cost, ensure the product of product Matter, product is met the needs of market, and when in use can efficient, accurate, flexible, safe and effective completion stamping press, Traditional artificial or semi-automatic processing mode is substituted, is economized on resources, greatly meets a variety of forcing presses in process Line use, can save 50%-60% generation input.It has simple and reasonable, excellent performance, easy to operate, body Product less, automation continuous punching, production efficiency it is high, safe and reliable and the features such as unit multiple spot punching press can be realized, it is practical.
Brief description of the drawings
Fig. 1 is first embodiment of the invention main structure diagram.
Fig. 2 is first embodiment of the invention overlooking the structure diagram.
Fig. 3 is first embodiment of the invention side structure schematic view.
Fig. 4 is first embodiment of the invention lifting drive structural representation.
Fig. 5 is drive device main structure diagram before and after first embodiment of the invention.
Fig. 6 is drive device side structure schematic view before and after first embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
Referring to Fig. 1-Fig. 6, the double servo synchronization feeding mechanical hands of this suspension type, including workbench 15 on forcing press, lifting Device, closing device, twin shaft feed device, material folding component 32 and electric control system, lowering or hoisting gear comprise at least two liftings Cabinet 13,13.1, two elevator cribs 13,13.1 hang and are fastened on the left and right sides of workbench 15 respectively;Two lifts Left and right lift platform 6,6.1 is respectively arranged with case 13,13.1, closing device is provided with two and is separately mounted to left and right and rises Drop on platform 6,6.1, and including at least the connecting plate 30,3.1 of the right and left;Before twin shaft feed device is provided with two and difference Formula is arranged on the connecting plate 30,30.1 of the right and left afterwards.
Further speaking, lowering or hoisting gear includes left and right elevator crib 13,13.1, and lift servo electricity is provided with left cabinet 13 Machine 1, the connection of lift servo motor 1 have a planetary reducer 1.1, planetary reducer 1.1 by shaft joint be connected with power transmission shaft 14 and Right cabinet 13.1 is connected by power transmission shaft 14;The described both ends of power transmission shaft 14 are equipped with synchronizing wheel 22,22.1, left and right elevator crib 13rd, gear shaft 24 is respectively arranged with 13.1, synchronizing wheel 22,22.1 passes through the first timing belt 23 and left and right elevator crib respectively 13rd, the drive connection of gear shaft 24 in 13.1;Be respectively arranged with described left and right lifting platform 6,6.1 band carry-over bar 18,18.1, And by rack 18,18.1 and the drive connection of gear shaft 24, line rail 20,20.1 is respectively arranged with elevator crib 13,13.1, it is left Right lifting platform 6,6.1 is arranged on the line rail 20,20.1 of elevator crib 13,13.1 by line rail sliding block and passes through gear respectively Elevating movement is realized in the driving of axle 24 and rack 18,18.1.
Further speaking, closing device is arranged on left and right lift platform 6,6.1, and including folding servomotor 2, folding Servomotor 2, which is arranged on left lift platform 6 and coupled, left steering device 10, and the connection of left steering device 10 has power transmission shaft 12 and led to Cross power transmission shaft 12 to be connected with the right turn device 10.1 on right lifting platform 6.1, be also respectively provided with just on left and right lift platform 6,6.1 Anti- tooth ball screw 8,8.1, left and right steering gear 10,10.1 are connected with positive and negative tooth ball screw 8,8.1 respectively, positive and negative tooth ball There are four nuts 9 on screw mandrel 8,8.1 respectively, two folding line slideways 7 are installed in parallel in a left side with positive and negative tooth ball screw 8,8.1 On right lift platform 6,6.1, there are four sliding blocks 11 on line slideway 7 respectively, the right and left is respectively provided with four sliding blocks 11 Connecting plate 30,30.1 and it is connected respectively with four nuts 9 on positive and negative tooth ball screw 8,8.1, the connecting plate of the right and left 30th, 30.1 open and close movement is realized with the rotation of positive and negative tooth ball screw 8,8.1.
Further speaking, twin shaft feed device includes two feeding servomotors, 3, two feed spools 4 and two feedings E axle supporting seat 5, two feeding servomotors 3 are separately mounted in two feed spool fulcrum bearings 5 and connection has planetary reduction gear respectively Machine 3.1, feeding line slideway 27 is separately installed with two feed spools 4, sliding block is separately installed with two feed spool fulcrum bearings 5 28, two feed spools 4 are connected by feeding line slideway 27 with the sliding block 28 of two feed spool fulcrum bearings 5 respectively;Two feedings Adjuster 31 is also respectively provided with axle 4, the one end of the second timing belt 25 is fixed on the one end of feed spool 4 by adjuster 31, the Two timing belts 25 bypass two idle pulleys 26 being arranged in feed spool fulcrum bearing 5 and motor synchronous belt wheel 29 and are fixed on feeding On the other end of axle 4;Two described synchronous axial systems of feeding servomotor 3 drag the second timing belt 25, and drive two feed spools 4 Left and right is synchronized with the movement;Two described feed spool fulcrum bearings 5 are attached separately on the connecting plate 30,3.1 of closing device, and pass through liter Falling unit and closing device realize lifting, folding and side-to-side movement.
Further speaking, material folding component 32 is provided with several and mutually corresponding is respectively fixedly disposed at two feedings On axle 4, wherein the material folding component 32 of a feed spool 4 is to be additionally provided with spring support 33.
Further speaking, electric control system includes servo-driver, PLC, the man-computer interface mutually electricly connected;PLC Lowering or hoisting gear, closing device and twin shaft feed device are controlled respectively by man-computer interface, to realize two feed spools 4 High-precise synchronization lifting, folding and left and right synchronization feeding;Wherein, control system is additionally provided with forcing press, PLC is also by man-machine Interface is controlled to the control system of forcing press, to realize the automatic stamping operation of forcing press.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of this area Personnel should be recognized that the present invention is not limited to the above embodiments, simply illustrate this hair described in above-described embodiment and specification Bright principle, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these changes It all fall within the protetion scope of the claimed invention with improvement.The claimed scope of the invention is by appended claims and its waits Jljl is defined.

Claims (6)

1. a kind of double servo synchronization feeding mechanical hands of suspension type, including workbench (15), lowering or hoisting gear, folding dress on forcing press Put, twin shaft feed device, material folding component (32) and electric control system, it is characterised in that:Lowering or hoisting gear rises including at least two Cabinet (13) (13.1) is dropped, and two elevator cribs (13) (13.1) are hung and are fastened on the left and right sides of workbench (15) respectively; Be respectively arranged with left and right lift platform (6) (6.1) on two elevator cribs (13) (13.1), closing device be provided with two and It is separately mounted on left and right lift platform (6) (6.1), and including at least the connecting plate (30) (3.1) of the right and left;Twin shaft feeding Formula is arranged on the connecting plate (30) (30.1) of the right and left before and after device is provided with two and difference.
2. the double servo synchronization feeding mechanical hands of suspension type according to claim 1, it is characterised in that:The lowering or hoisting gear bag Left and right elevator crib (13) (13.1) is included, lift servo motor (1), lift servo motor (1) connection are provided with left cabinet (13) Planetary reducer (1.1) is connected to, planetary reducer (1.1) connects power transmission shaft (14) by shaft joint and passes through power transmission shaft (14) Connect right cabinet (13.1);Described power transmission shaft (14) both ends are equipped with synchronizing wheel (22) (22.1), left and right elevator crib (13) (13.1) gear shaft (24) is respectively arranged with, synchronizing wheel (22) (22.1) is lifted by the first timing belt (23) and left and right respectively Gear shaft (24) drive connection in cabinet (13) (13.1);Tooth is respectively arranged with described left and right lift platform (6) (6.1) Bar (18) (18.1), little gear and rack (18) (18.1) drive connection are respectively arranged with two gear shafts (24);Lift Line rail (20) (20.1) is respectively arranged with case (13) (13.1), left and right lift platform (6) (6.1) is pacified by line rail sliding block respectively On the line rail (20) (20.1) of elevator crib (13) (13.1) and pass through the drive of gear shaft (24) and rack (18) (18.1) It is dynamic to realize elevating movement.
3. the double servo synchronization feeding mechanical hands of suspension type according to claim 2, it is characterised in that:The closing device peace Left lifting is arranged on left and right lift platform (6) (6.1), and including folding servomotor (2), folding servomotor (2) On stand (6) and connection has left steering device (10), and left steering device (10) connection has power transmission shaft (12) and by power transmission shaft (12) It is connected, is also respectively provided with left and right lift platform (6) (6.1) positive and negative with the right turn device (10.1) on right lifting platform (6.1) Tooth ball screw (8) (8.1), left and right steering gear (10) (10.1) is connected with positive and negative tooth ball screw (8) (8.1) respectively, positive and negative There are four nuts (9), two folding line slideways (7) and positive and negative tooth ball screw (8) on tooth ball screw (8) (8.1) respectively (8.1) it is installed in parallel on left and right lift platform (6) (6.1), there are four sliding blocks (11) on two line slideways (7) respectively, four Be respectively provided with individual sliding block (11) connecting plate (30) (30.1) of the right and left and respectively with positive and negative tooth ball screw (8) (8.1) On the connection of four nuts (9), the connecting plate (30) (30.1) of the right and left with positive and negative tooth ball screw (8) (8.1) rotation Realize open and close movement.
4. the double servo synchronization feeding mechanical hands of suspension type according to claim 3, it is characterised in that:The twin shaft feeding dress Put and include two feeding servomotors (3), two feed spools (4) and two feed spool fulcrum bearings (5), two feeding servo electricity Machine (3) is separately mounted on two feed spool fulcrum bearings (5) and connection has planetary reducer (3.1), two feed spools respectively (4) feeding line slideway (27) is separately installed with, is separately installed with sliding block (28) on two feed spool fulcrum bearings (5), two Feed spool (4) is connected by feeding line slideway (27) with the sliding block (28) of two feed spool fulcrum bearings (5) respectively;Two feedings Adjuster (31) is also respectively provided with axle (4), the second timing belt (25) one end is fixed on feed spool (4) by adjuster (31) On one end, the second timing belt (25) bypasses two idle pulleys (26) being arranged in feed spool fulcrum bearing (5) and motor synchronous belt wheel (29) and it is fixed on feed spool (4) other end;Described two feeding servomotor (3) synchronous axial systems dragging second is synchronous Band (25), and drive two feed spool (4) left and right to be synchronized with the movement;Two described feed spool fulcrum bearings (5) are attached separately to folding On the connecting plate (30) (3.1) of device, and lifting, folding and side-to-side movement are realized by lowering or hoisting gear and closing device.
5. the double servo synchronization feeding mechanical hands of suspension type according to claim 4, it is characterised in that:The material folding component (32) several are provided with and mutually corresponding is respectively fixedly disposed on two feed spools (4), wherein a feed spool (4) Material folding component (32) on be additionally provided with spring support (33).
6. the double servo synchronization feeding mechanical hands of suspension type according to claim 5, it is characterised in that:The electrical control system System includes servo-driver, PLC, man-computer interface;PLC is sent to lowering or hoisting gear, closing device and twin shaft respectively by man-computer interface Material device is controlled, to realize the lifting of two feed spools (4), folding and left and right high-precise synchronization feeding;And and forcing press Upper control system connection, realizes the automatic stamping operation of forcing press.
CN201710985442.XA 2017-10-20 2017-10-20 A kind of double servo synchronization feeding mechanical hands of suspension type Pending CN107552668A (en)

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CN201710985442.XA CN107552668A (en) 2017-10-20 2017-10-20 A kind of double servo synchronization feeding mechanical hands of suspension type

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710985442.XA CN107552668A (en) 2017-10-20 2017-10-20 A kind of double servo synchronization feeding mechanical hands of suspension type

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CN107552668A true CN107552668A (en) 2018-01-09

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108360045A (en) * 2018-05-04 2018-08-03 佘峰 A kind of guider for processing to be electroplated
CN113198934A (en) * 2021-05-14 2021-08-03 广东宏兴机械有限公司 Suspension type multi-station servo synchronous feeding production line

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108360045A (en) * 2018-05-04 2018-08-03 佘峰 A kind of guider for processing to be electroplated
CN113198934A (en) * 2021-05-14 2021-08-03 广东宏兴机械有限公司 Suspension type multi-station servo synchronous feeding production line

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